Off-line simulation system

Patent metadata

Field	Value
Publication number	US-12090669-B2
Application number	US-202117906277-A
Country	US
Kind code	B2
Filing date	Mar 24, 2021
Priority date	Mar 30, 2020
Publication date	Sep 17, 2024
Grant date	Sep 17, 2024

Abstract

Provided is an off-line simulation system that enables performance of efficient vision correction training. This vision correction training system for vision correction training is provided with a head mount display capable of displaying an image in a virtual space, and a teaching device communicably connected to the head mount display. The teaching device has: a vision correction unit that, on the basis of a captured image captured by a camera after the position of a workpiece has been moved, performs vision correction on a predetermined movement; and a correction confirmation unit that confirms that the vision correction is appropriately performed on the predetermined movement.

First claim

The invention claimed is:

1. An off-line simulation system for providing practical training for vision compensation, the off-line simulation system comprising:
an information processor capable of displaying an image of a virtual space; and
a teaching apparatus communicatively connected to the information processor, the teaching apparatus comprising
a virtual space generation unit that generates the image of the virtual space,
a teaching unit that places a robot and a workpiece in the virtual space and teaches the robot to perform a predetermined motion with respect to the workpiece,
a camera placement unit that places a camera at a position in the virtual space such that the workpiece is within a field of view of the camera,
a vision compensation unit that performs, after a position of the workpiece has been moved, vision compensation on the predetermined motion based on an image captured by the camera, and
a compensation checking unit that checks whether the vision compensation is being properly performed on the predetermined motion.

2. The off-line simulation system according to claim 1 , further comprising:
a controller and a teaching operation panel that are for the robot,
wherein the information processor is communicatively connected to the controller, and an operation is enabled via the teaching operation panel connected to the controller.

3. The off-line simulation system according to claim 1 , wherein the teaching apparatus further comprises an operation panel placement unit that places a teaching operation panel for the robot in the virtual space.

4. The off-line simulation system according to claim 1 , wherein the teaching apparatus further comprises a coordinate system setting unit that sets a coordinate system for the vision compensation in the virtual space and places the coordinate system in the virtual space.

5. The off-line simulation system according to claim 4 , wherein the teaching apparatus further comprises a coordinate system checking unit that checks whether the coordinate system set by the coordinate system setting unit is at a position suitable for performing the vision compensation.

6. The off-line simulation system according to claim 1 , wherein the teaching apparatus further comprises an optical condition setting unit that sets optical conditions of the camera.

7. The off-line simulation system according to claim 1 , wherein the teaching apparatus further comprises an annunciation unit that displays an alarm in the virtual space.

8. The off-line simulation system according to claim 1 , wherein the teaching apparatus further comprises
a workpiece detection unit that teaches a model pattern of the workpiece and uses the model pattern to detect the position of the workpiece from an image of the workpiece captured by the camera,
a reference position setting unit that sets, as a reference position of the workpiece, a position at which the workpiece has been detected by the workpiece detection unit in the captured image, and
a calculation unit that calculates, after the position of the workpiece has been moved, an amount of deviation between the position of the workpiece detected by the workpiece detection unit and the reference position, and
wherein the vision compensation unit performs the vision compensation on the predetermined motion, based on the calculated amount of deviation.

Assignees

• Fanuc Corp

Inventors

• Murata Yuusuke
• Takahashi Hiromitsu

Classifications

• G05B2219/50391

  Robot · CPC title

• G05B19/4155

  characterised by program execution, i.e. part program or machine function execution, e.g. selection of a program · CPC title

• B25J9/1697

  Vision controlled systems · CPC title

• G05B2219/39014

  Match virtual world with real world · CPC title

• G05B19/427

  Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, leader-follower control (G05B19/423 takes precedence) · CPC title